example_h264.launch

<launch>

  <!-- Use different namespaces for the 2nd camera or greater -->
  <group ns="usb_cam">

    <!-- USB camera driver + controller manager -->
    <node name="hardware" pkg="nodelet" type="nodelet" 
          args="standalone usb_cam_hardware/USBCamHardware" output="screen">
      <remap from="camera_info_controller/camera_info" to="camera_info"/>
      <remap from="h264_controller/image" to="image"/>
      <remap from="compressed_packet_controller/packet" to="packet/h264"/>
      <param name="video_device" value="/dev/video1"/>
      <param name="image_width" value="1920"/>
      <param name="image_height" value="960"/>
      <param name="pixel_format" value="h264"/>
      <param name="framerate" value="30"/>
    </node>

    <!-- Controller starter that asks the manager to start -->
    <node name="controller_starter" pkg="controller_manager" type="controller_manager" 
          args="spawn camera_info_controller compressed_packet_controller h264_controller" output="screen"/>
    <!-- Recommendation: use controllers you actually required -->
    <!--   camera_info_controller publishes camera infos synchronized with images -->
    <!--   compressed_packet_controller publishes packets from the camera (so requires subscriber-side decoding) -->
    <!--   h264_controller does server-side decoding (usually heavy) and publishes images -->

    <!-- Parameters for controllers -->
    <param name="camera_info_controller/type" value="usb_cam_controllers/CameraInfoController"/>
    <param name="camera_info_controller/camera_frame_id" value="insta360"/>

    <param name="compressed_packet_controller/type" value="usb_cam_controllers/CompressedPacketController"/>
    <param name="compressed_packet_controller/format" value="h264"/>
    
    <param name="h264_controller/type" value="usb_cam_controllers/H264Controller"/>

  </group>

</launch>